@misc{indiciae0aa2cb9c3486,
  title = {Overcoming Robot-Arm Joint Singularities},
  author = {Barker, L. K. and Houck, J. A.},
  year = {1986},
  url = {https://ntrs.nasa.gov/citations/19860000286},
  note = {Source identifier: 19860000286}
}